CN1233336A - Video imaging systems - Google Patents
Video imaging systems Download PDFInfo
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- CN1233336A CN1233336A CN97198816A CN97198816A CN1233336A CN 1233336 A CN1233336 A CN 1233336A CN 97198816 A CN97198816 A CN 97198816A CN 97198816 A CN97198816 A CN 97198816A CN 1233336 A CN1233336 A CN 1233336A
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C9/00—Individual registration on entry or exit
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/20—Image preprocessing
- G06V10/255—Detecting or recognising potential candidate objects based on visual cues, e.g. shapes
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/04—Detecting movement of traffic to be counted or controlled using optical or ultrasonic detectors
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- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Theoretical Computer Science (AREA)
- Closed-Circuit Television Systems (AREA)
- Image Analysis (AREA)
- Cameras In General (AREA)
- Studio Devices (AREA)
- Color Television Image Signal Generators (AREA)
- Image Processing (AREA)
- Cameras Adapted For Combination With Other Photographic Or Optical Apparatuses (AREA)
- Lubrication Of Internal Combustion Engines (AREA)
- Traffic Control Systems (AREA)
- Endoscopes (AREA)
- Apparatus For Radiation Diagnosis (AREA)
Abstract
Flow of traffic through an area is monitored by producing a video image of the area using a camera (10), dividing the video image into a matrix of pixels (23), sampling the pixels (23) of the whole video image at low resolution to detect changes in the pixels (23) which will indicate an object of interest and sampling the pixels of a local area (25) of the video image centred on said object of interest, at high resolution to detect the size of the object of interest and its direction of movement.
Description
The present invention relates to video imaging system, relate in particular to the method and apparatus that monitors by the traffic flow in a zone.
Propose already video imaging system is used for monitoring the stream of people who enters or leave the footpound force traffic zone that this footpound force traffic zone for example is the entrance of a retailer outlet or shopping area.This system comprises a video imaging device (video imager), a ccd video camera for example, this video camera is placed on the above-mentioned zone to monitor this traffic zone, analyze the image of this video imaging device with suitable treatment facility, cross this regional number and detect each one route with statistics.In order to reduce required treatment capacity, propose according to WO94/27408: the processing to video image is limited to the very narrow area of traffic zone.
For example, can revise this system makes it be adapted to barrier to traffic flow.But in case set up this system, if change traffic zone by adding, dismounting or playback barrier, then this system's underaction needs to reset.In addition, this system can only detect two-way traffic flow.If this system is used in intersection, then must need several such systems, make each inlet of this intersection that a this system all be arranged, so that monitor action by the people of this intersection.
The invention provides a kind of video imaging system, this system flexible can be carried out the follow-up work of omnirange traffic flow.
According to an aspect of the present invention, a kind of supervision is characterized in that: produce this regional video image by the method for the traffic flow in a zone; This video image is divided into a PEL matrix; These pixels to the whole video image under low resolution are sampled, to detect an object; Under high resolving power to being that the pixel of this video image regional area at center is sampled with described object.
According to a further aspect in the invention, a kind of video imaging system comprises: a video imaging device is used for producing the video image in a zone; And treating apparatus, being used for analyzing this video image, described treating apparatus comprises: be used for video image is divided into the device of a plurality of pixels; Be used for the plain sampling of low resolution objects so that detect the device of an object; With the device that is used for high resolving power the pixel of one regional area being sampled, this regional area is the center with described object.
According to the present invention, with low-resolution scan whole video image, scan a pixel in per 20 pixels along both direction, only when finding out an object with low resolution,, saved required processing capacity thus with high resolution scanning and the corresponding regional area of detected object.
Like this, when finding out an object, it can be followed the tracks of in video image institute overlay area, so that can monitor through this regional omnirange traffic flow.Therefore, can for example be used for an independent video imaging device to monitor the traffic flow of crossing intersection part.
According to a preferred embodiment of the present invention, produce a series of time-division video images in this zone, the pixel of a video image and a former image or the corresponding pixel of a plurality of images are made comparisons, so that can be with the object of the change-detection in the pixel through this zone.
In addition, can make the size of the regional area that scans under the high resolving power be suitable for this object, so that distinguish different object.For example, the difference of the regional area that is scanned under high resolving power depends on that object is children, adult or the pedestrian or the one family crowd that are promoting trolley.To the regional area prescribed level that is scanned under the high resolving power, this can also distinguish independent pedestrian and lean on very near a group pedestrian.Can also proofread and correct the zone of defined size, to adapt to variation because of for example photoscope or height wide-angle lens action effect.On the other hand, the change frame by frame that a target shape is carried out can be used for differentiating this target.For example for a group traveling together, the stride pattern can be used for distinguishing an adult and children, and abiotic target can produce a regular pattern such as trolley.
By the whole traffic zone of continuous sweep, although be under low resolution, for example when this traffic zone is put into or be refitted in to barrier, this system will adapt to the variation in traffic flow path automatically.
According to another aspect of the invention, a kind of video imaging system comprises: a video imaging device is used for producing the video image in a zone; And treating apparatus, be used for analyzing this video image, described treating apparatus comprises and is used for video image is divided into the device of one or more region-of-interests that this each region-of-interest for the treatment of apparatus separate analysis is to detect flowing velocity and the direction of motion by the object of each region-of-interest.
In accordance with a further aspect of the present invention, independent video imaging device can be used for monitoring separately a plurality of region-of-interests in the given area.For example, region-of-interest can be represented the inlet or the outlet of an elevator, escalator and stair.Like this, the amount that independent video imaging device can be used for following the tracks of the pedestrian who uses elevator, escalator and stair respectively, and here otherwise will need each device to can be used to monitor each zone.On the other hand, region-of-interest can be represented the different sales counters of retailer outlet.
Here only utilize example to describe the present invention with reference to the accompanying drawings, in these accompanying drawings:
Fig. 1 illustrates according to video imaging system of the present invention by graphic table, and this system is used for monitoring the stream of people by a traffic zone;
Fig. 2 is a synoptic diagram, the work of treatment that video image carried out of expression to being obtained by system shown in Figure 1;
Fig. 3 illustrates the video imaging system of similar system shown in Figure 1 by graphic table, and it is installed in a Route for pedestrians crossing;
Fig. 4 illustrates Another Application according to video imaging system of the present invention by graphic table;
Fig. 5 illustrates another embodiment of the present invention by graphic table.
As shown in Figure 1, be used for monitoring that the video imaging system of the client stream of people in the supermarket for example comprises a monochrome or colourful CCD video camera 10, this video camera 10 is installed on the island (isle) 14 in supermarket.Shelf are positioned at the both sides on island 14.Install video camera to such an extent that can see zone 12 vertically downward, zone 12 can be for example 10 square metres.
Give storage and analytical equipment 22 digital data transmission of the every frame of video image, this installs 22 each the 20 pixel 23 along each this matrix of scanning direction, and handle is compared with the respective digital value of identical pixel in the former frame with the gray scale or the corresponding digital value of color gradient of each pixel 23.On the other hand, can compare the digital value of each pixel with the weighted mean value of the digital value of pixel in the long-time arbitrarily section in described 255 frames.If the variation of gray scale or color gradient surpasses a threshold value, then detect the potential target that attracts people's attention, this target is a moving target.This threshold value can change under different light intensity, distinguishes the ability that changes under the high and low light intensity and also can change.Threshold figure (maps) can be used for controlling the threshold value in different images district.
For fear of the unreliable detection of object being carried out because of the localized variation in the light, according to a detection that attracts people's attention potential target, pixel 23 neighboring pixels that scanning and expression one attract people's attention potential target, when only the variation in gray scale or color gradient exceeds the threshold value of at least one pixel in these adjacent image points, just confirm the target that this makes us paying close attention to.In addition, for fear of changing the unreliable detection that object is carried out because of whole regional 20 interior light, the attract people's attention gray scale of pixel 23 of potential target or color gradient of expression changed with the variation of pixel 23 in 12 other parts of zone and make comparisons, pixel 23 in wherein above-mentioned other parts for example comprises the pixel 23 in the some parts in the zone 12, in these parts, be placed with and show shelf 16, and can not comprise object.
According to the affirmation to an object, analytical equipment then scans all pixels in the regional area 25, and this zone 25 is the center with the pixel 23 of paying close attention to target.Regional area 25 can have the corresponding demarcation size with a typical case adult at first.But the size that can increase or dwindle regional area 25 is till the size that makes regional area 25 reaches object.Also removable regional area 25 is till it covers object.That is, adjust regional area 25, cover all pixels that adjoins up to it, the gray scale on the threshold value or the variation of color gradient have wherein been arranged.
Can differentiate object with the size of regional area 25, find at last, need this regional area 25 to cover object.The size of object and shape change with respect to moving of its trunk with its arm and leg with for example moving of pedestrian.But,, can consider these variations when by for example when this size of several frame inner averages of video image is differentiated object.Treating apparatus 20 is equipped with memory storage 24, memory search table in memory storage 24, by search list, for example can differentiate the adult that for children, adult, promoting Pushchair or supermarket trolleys or intensive in groups pedestrian to the object in the different magnitude range.Under latter event, crowd's whole size can be used to provide the number among the crowd.Threshold value can be distinguished entity target and the shade in the video image, thereby has avoided the unreliable discriminating to object.But when darker shade was formed by intense light source, threshold value may be not enough to distinguish entity target and shade.But, can programme to native system, so that estimate and ignore the position of shade with regard to the position of this light source.
Regional area 25 moves with object traversed zone 12, and like this, the motion of object can come under observation.
Adopt said system, if object is in the zone 12, then it will be disappeared in background.In this case, the position of object and it must be kept, when mobile once more, its path can be detected through zone 12 with this target of box lunch from record where.A kind of method that realizes this function is in case there is a pixel to detect an object, just to lock the digital value of comparing with this pixel digital value, till this object is away from this pixel.The method of the object that this protection is stable preferably has the limited time, so that the permanent new barrier that adds in the zone 12 can finally might be sneaked among the background.
Therefore, can be used for said system to monitor number, type and the moving direction of 14 clients that move along the passageway.In addition, when this system monitoring whole regional 12 the time, if move to show shelf 16 so that client along the zone walking that had before been covered by shelf 16, and/or 14 central authorities are provided with exhibiting device in the aisle, then this system can adapt to the new mobile route of client automatically and needn't reset.
In the above-described embodiments, video image is divided into the matrix of 512 * 512 pixels, a frame video image is shown among Fig. 2, and a frame video image is generally represented the zone 12 of m * 10m size.Therefore, each pixel will cover about 2 square centimeters zone.Under coarse resolution, when per two ten pixel 23 of scanning on each direction, be subjected to the interval between the scanning element 23 to be about 40 centimetres.Pedestrian's mean breadth of it and about 60 centimetres compares.Therefore, the scanning of carrying out under coarse resolution should be able to detect all pedestrians that enter in the zone 12.But the resolution of carrying out coarse scanning can increase or reduce with the need, and this depends on zone 12, the relative size of object and the number of pixel that image is divided into that video image covers.But, the scanning of carrying out under coarse resolution is preferably included in the pixel of average scanning 5%～10% in the whole zone of video image.
In addition, according to above embodiment, the pedestrian can be to pass zone 12 up to the speed about 3 meter per seconds.Width is about 30 centimetres before and after supposing a general pedestrian, then can cover this pedestrian about 0.1 second by each pixel that this pedestrian passed, and this is at least two frames under the 25 frames/second speed.In addition, the pedestrian will be with the speed process zone 12 up to the every frame of 6 pixels.Therefore, tracking pedestrians passes regional 12 direction of motion and path frame by frame.
In order to realize handling in real time video image, must the object between each successive frame be detected, confirm, determine size and location.In case an object has been carried out detection, has been determined size and location, just can be used for forecasting size and position in the next frame to the size in the frame and position, reduce next the required amount of handling in each frame thus, thereby followed the tracks of the motion of the object of passing zone 12.
As shown in Figure 3, the video imaging system of the above-mentioned type can be used in 30, two walkways in intersection 31,32 and intersects at these 30 places, intersection.Adopt this system, when pedestrian's motion came under observation within whole intersection 30, this system can both monitor the pedestrian who turns right or turn left, and also monitored the pedestrian who keeps straight on and pass intersection 30 simultaneously.
In the embodiment shown in fig. 4, place video camera 40 to such an extent that it can and be taken along main aisle 42 levels in a supermarket downwards.Thereby this system can monitor the pedestrian who moves along main aisle 42, can also monitor to leave main aisle 42 and enter pedestrian in 44 li passageways, several passageways, and draw from main aisle 42 in these several passageways 44.In this embodiment, for the distant view effect is provided, can change the ratio in zone 45, identify under low resolution after the object, scanning area 45 under high resolving power.
Embodiment shown in Figure 5 is similar to system shown in Figure 1, and identical reference number is used for corresponding parts.In the embodiment shown in fig. 5, whole regional 12 be divided into several region-of-interests to what covered by video camera 10: first region-of-interest 52, it is corresponding to the inlet/outlet of elevator 53; Second region-of-interest 54, it is corresponding to the inlet of up escalator 55; The 3rd region-of-interest 56, it is corresponding to the outlet of descending escalator 57; The 4th region-of-interest 58, it is corresponding to the inlet/outlet of stair 59.
Treating apparatus 20 can be handled each region-of- interest 52,54,56 and 58 independently, so as to be entered or walked out elevator 53 the pedestrian, go on escalator 55 the pedestrian, go down escalator 57 and go on or 59 the pedestrian's of walking to go downstairs statistic separately.
Software by this system defines region-of- interest 52,54,56 and 58, and can set them according to the installation of this system by the operator.Region-of-interest can also be reset, and with the variation of the physical distribution of region of acceptance 12, and does not change the hardware of video imaging system.On the other hand, can whole regional 12 be divided into several region-of-interests to what video camera 10 was covered, these several region-of-interests are corresponding to for example different sales counters or show shelf, so that from a sales counter or show that shelf go to another pedestrian's motion and can come under observation.
Although video camera 10 produces new video image with the speed of 25 frame per seconds in above embodiment, and these images are divided into the matrix of 512 * 512 pixels, but, video camera 10 also can produce image with the speed of 15～60 frame per seconds, and these images can be divided into the matrix of 80 * 80～4000 * 4000 pixels.
One extra video imaging device can be used to provide stereo-picture, and this image has depth perception.This will help to differentiate object, can also watch around the target of just blocking other object.
Claims (21)
1. a supervision is characterized in that: the video image that produces this zone (12) by the method for the traffic flow in a zone (12); This video image is divided into pixel (23) matrix; These pixels (23) to the whole video image under low resolution are sampled, to detect an object; Under high resolving power to being that the pixel of this video image regional area (25,45) at center is sampled with described object.
2. according to the method for claim 1, it is characterized in that, the pixel (23) of (12) video images in zone with in zone that different time is got a video image of (12) or the corresponding pixel of a plurality of video images make comparisons so that the variation in these pixels can identify the object of passing through this zone (12).
3. according to the method for claim 2, it is characterized in that, with the speed generation video image of 15～60 frame per seconds.
4. according to the method for claim 2 or 3, it is characterized in that, video image is converted to digital video image signal, wherein video image is divided into pixel (23) matrix, described digital video image signal comprises the gray scale of each pixel (23) in this matrix or the digital value of color gradient.
5. according to the method for claim 4, it is characterized in that, the gray scale or the color gradient of corresponding pixel (23) in the gray scale of each pixel of video image (23) or color gradient and the previous video image are made comparisons, if the difference of this gray scale or color gradient is bigger than a threshold value, then identify an object.
6. according to the method for claim 4, it is characterized in that, the gray scale of each pixel of video image (23) or color gradient and in the arbitrarily long-time stage gray scale or the color gradient weighted mean value of pixel (23) make comparisons, if the difference of this gray scale or color gradient is bigger than a threshold value, then identify an object.
7. according to the method for claim 5 or 6, it is characterized in that, the variation in other pixels (23) in the variation in each pixel (23) and whole zone (12) is made comparisons, so that the light of proofreading and correct in the whole zone (12) changes.
8. according to the method for aforementioned arbitrary claim, it is characterized in that, by scanning and pixel (23) neighboring pixels (23) that detects an object, to the detection of an object, scanning afterwards with this object is the regional area (25) at center under low resolution in affirmation.
9. according to the method for aforementioned arbitrary claim, it is characterized in that, under low resolution, the pixel (23) of average scanning 5%～10% on the whole video image.
10. according to the method for aforementioned arbitrary claim, it is characterized in that, make the size of regional area (25) be suitable for object.
11. method according to claim 10, it is characterized in that, thereby scan with low resolution find out an object after, making a regional area (25) of demarcating size is the center with this object, and, make the size of this regional area (25) be suitable for this object gradually in the high resolution scanning several times with this regional area of high resolution scanning (25).
12. the method according to claim 10 or 11 is characterized in that, differentiates object according to the size of regional area (25).
13. the method according to claim 10 or 11 is characterized in that, differentiates object by object change of shape frame by frame.
14. the method according to aforementioned arbitrary claim is characterized in that, each video image is divided into the matrix of 80 * 80～4000 * 4000 pixels (23).
15. the method according to aforementioned arbitrary claim is characterized in that, video image is divided into a plurality of region-of-interests (52,54,56,58), each region-of-interest (52,54,56,58) can be subjected to scanning independently.
16. one kind is used for monitoring the method by the traffic flow in a zone, it is characterized in that: the video image that produces this zone (12); This video image is divided into a plurality of region-of-interests (52,54,56,58); Handle this video image, to detect the object in each region-of-interest (52,54,56,58) independently.
17. the method according to claim 16 is characterized in that, produces a series of time-division video images, handles these video images, to detect flowing velocity and the direction of motion by the object of each region-of-interest (52,54,56,58).
18. a video imaging system is characterized in that: a video imaging device (10; 40), be used for producing a zone (12; 30; 42) video image; And treating apparatus, being used for analyzing this video image, described treating apparatus (20) comprising: be used for video image is divided into the device (21) of a plurality of pixels (23); Be used for low resolution objects element (23) sampling so that detect the device (22) of an object; With the device that is used for high resolving power the pixel (23) of one regional area (25,45) being sampled, this regional area (25,45) is the center with described object.
19. the video imaging system according to claim 18 is characterized in that, video imaging device (10; 40) be a monochrome or colour TV camera.
20. the video imaging system according to claim 18 or 19 is characterized in that, video imaging device (10; 40) with respect to this zone (12; 30; 42) vertically be provided with or be horizontally disposed with between vertical direction and the horizontal direction.
21., it is characterized in that an extra video imaging device is provided, and it is used to provide the stereo-picture of this zone (42) according to any one video imaging system in the claim 18 to 20.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| GBGB9617592.2A GB9617592D0 (en) | 1996-08-22 | 1996-08-22 | Video imaging systems |
| GB9617592.2 | 1996-08-22 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN1233336A true CN1233336A (en) | 1999-10-27 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN97198816A Pending CN1233336A (en) | 1996-08-22 | 1997-07-28 | Video imaging systems |
Country Status (14)
| Country | Link |
|---|---|
| EP (1) | EP0920690B1 (en) |
| CN (1) | CN1233336A (en) |
| AT (1) | ATE215719T1 (en) |
| AU (1) | AU718373C (en) |
| BR (1) | BR9711347A (en) |
| CA (1) | CA2263836A1 (en) |
| DE (1) | DE69711641T2 (en) |
| ES (1) | ES2175440T3 (en) |
| GB (1) | GB9617592D0 (en) |
| IL (1) | IL128617A (en) |
| NZ (1) | NZ334324A (en) |
| PL (1) | PL331846A1 (en) |
| PT (1) | PT920690E (en) |
| WO (1) | WO1998008208A2 (en) |
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| CN103871038A (en) * | 2014-03-06 | 2014-06-18 | 中国人民解放军国防科学技术大学 | Super-resolution omnidirectional image reconstruction method based on non-uniform measurement matrix |
| CN104580943A (en) * | 2013-10-28 | 2015-04-29 | 原相科技股份有限公司 | Image sensing system and method as well as eyeball tracking system and method |
| CN105518749A (en) * | 2014-08-08 | 2016-04-20 | Digicon电子控制机械股份公司 | System and method for controlling and monitoring access to restricted areas |
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- 1997-07-28 WO PCT/GB1997/002013 patent/WO1998008208A2/en active IP Right Grant
- 1997-07-28 PL PL97331846A patent/PL331846A1/en unknown
- 1997-07-28 CA CA002263836A patent/CA2263836A1/en not_active Abandoned
- 1997-07-28 PT PT97933758T patent/PT920690E/en unknown
- 1997-07-28 AU AU37003/97A patent/AU718373C/en not_active Ceased
- 1997-07-28 ES ES97933758T patent/ES2175440T3/en not_active Expired - Lifetime
- 1997-07-28 CN CN97198816A patent/CN1233336A/en active Pending
- 1997-07-28 DE DE69711641T patent/DE69711641T2/en not_active Expired - Fee Related
- 1997-07-28 AT AT97933758T patent/ATE215719T1/en not_active IP Right Cessation
- 1997-07-28 NZ NZ334324A patent/NZ334324A/en unknown
- 1997-07-28 BR BR9711347-6A patent/BR9711347A/en not_active Application Discontinuation
- 1997-07-28 EP EP97933758A patent/EP0920690B1/en not_active Expired - Lifetime
- 1997-07-28 IL IL12861797A patent/IL128617A/en unknown
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101674411B (en) * | 2008-09-09 | 2012-04-04 | 卡西欧计算机株式会社 | Image capturing apparatus, method of determining presence or absence of image area, and recording medium |
| CN101917601A (en) * | 2010-08-26 | 2010-12-15 | 四川大学 | Digital video intelligent monitoring equipment based on dual camera and data processing method |
| CN101917601B (en) * | 2010-08-26 | 2012-07-25 | 四川大学 | Digital video intelligent monitoring equipment based on dual camera and data processing method |
| US9876966B2 (en) | 2013-10-18 | 2018-01-23 | Pixart Imaging Inc. | System and method for determining image variation tendency and controlling image resolution |
| CN104580943A (en) * | 2013-10-28 | 2015-04-29 | 原相科技股份有限公司 | Image sensing system and method as well as eyeball tracking system and method |
| CN103871038A (en) * | 2014-03-06 | 2014-06-18 | 中国人民解放军国防科学技术大学 | Super-resolution omnidirectional image reconstruction method based on non-uniform measurement matrix |
| CN103871038B (en) * | 2014-03-06 | 2014-11-05 | 中国人民解放军国防科学技术大学 | Super-resolution omnidirectional image reconstruction method based on non-uniform measurement matrix |
| CN105518749A (en) * | 2014-08-08 | 2016-04-20 | Digicon电子控制机械股份公司 | System and method for controlling and monitoring access to restricted areas |
| CN107623842A (en) * | 2017-09-25 | 2018-01-23 | 西安科技大学 | A kind of video monitoring image processing system and method |
Also Published As
| Publication number | Publication date |
|---|---|
| IL128617A (en) | 2001-08-08 |
| ATE215719T1 (en) | 2002-04-15 |
| WO1998008208A2 (en) | 1998-02-26 |
| GB9617592D0 (en) | 1996-10-02 |
| NZ334324A (en) | 2000-06-23 |
| DE69711641D1 (en) | 2002-05-08 |
| IL128617A0 (en) | 2000-01-31 |
| CA2263836A1 (en) | 1998-02-26 |
| WO1998008208A3 (en) | 1998-07-16 |
| AU718373C (en) | 2002-03-14 |
| PT920690E (en) | 2002-08-30 |
| EP0920690B1 (en) | 2002-04-03 |
| EP0920690A1 (en) | 1999-06-09 |
| BR9711347A (en) | 2000-04-25 |
| AU718373B2 (en) | 2000-04-13 |
| AU3700397A (en) | 1998-03-06 |
| ES2175440T3 (en) | 2002-11-16 |
| PL331846A1 (en) | 1999-08-16 |
| DE69711641T2 (en) | 2002-09-19 |
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